DYNAMICS OF FLEXIBLE MECHANISMS WITH MUTUAL DEPENDENCE BETWEEN RIGID-BODY MOTION AND LONGITUDINAL DEFORMATION OF LINKS

A finite element model is derived for flexible planar linkages. Large mechanism motion is studied by using modified truss-type elements and is a combination of rigid body displacement and elastic longitudinal d eformation of links. In the next step of analysis beam elements are us ed to obtain elastic transverse deformation of links. For large-displa cement motion the equations of motion are derived by using Lagrange's equations and for small-displacement motion the Gibbs-Appel equations are introduced. In this way the motion of a mechanism is governed by a system of two differential equations which are integrated numerically . As an example a four-bar linkage is studied.